Design and implementation methodology for rapid control prototyping of closed loop speed control for BLDC motor

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ARTICLE IN PRESS Available online at www.sciencedirect.com

ScienceDirect Journal of Electrical Systems and Information Technology xxx (2016) xxx–xxx

Design and implementation methodology for rapid control prototyping of closed loop speed control for BLDC motor

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Devendra Potnuru a,∗ , Alice Mary K. b , Saibabu Ch. c a Dept. of Electrical & Electronics Engg., GMR Institute of Technology, Rajam, AP, India Dept. of Electrical & Electronics Engg., Gudlavalleru Engineering College, Gudlavalleru, AP, India Dept. of Electrical & Electronics Engg., Jawaharlal Nehru Technological University Kakinada, Kakinada, AP, India b

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Received 3 March 2016; received in revised form 4 November 2016; accepted 5 December 2016

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Abstract

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This paper deals with rapid control prototyping implementation of closed loop speed control for a Brushless dc (BLDC) motor drive using dSPACE DS1103 controller board. Generally control algorithms which are developed for the motor drive might show good simulation results during steady state and transient conditions; however real-time performance of the drive greatly depends on execution of real time control software, speed and position measurements and data acquisition. The real challenge of hardware implementation lies in selecting appropriate hardware equipment and perfect configuration of the equipment with controller board. The dSPACE DS1103 controller board is suitable for high performance electric motor control as it has flexibility of converting the MATLAB/Simulink blocks into DSP enabled embedded code. In this paper a detailed procedure to effectively control the BLDC motor drive in real-time is presented. © 2016 Electronics Research Institute (ERI). Production and hosting by Elsevier B.V. This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/).

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Keywords: BLDC motor; Rapid control prototyping; dSPACE; DS1103

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1. Introduction Electrical drives are important mechanical energy source component in all industrial, commercial and residential applications such as pumps, fans, mills, conveyer belts, elevators, riders, compressors, packaging equipment and many others (Bose, 2005; Hughes, 2013). These systems consume approximately 35% of generated electrical power throughout the world. Hence demand for energy efficient, less maintenance, good speed range, less noisy, high power,higher torque density and cost effective electric motor drives are emerging in the market (Bose, 2005; Gim, 1995; Jayaram, 2009; de Almeida et al., 2014; Bist et al., 2014; Bist and Singh, 2013). Nowadays, the Brushless DC (BLDC) motor ∗

Corresponding author. E-mail addresses: [email protected] (D. Potnuru), [email protected] (A.M. K.), chs [email protected] (S. Ch.). Peer review under the responsibility of Electronics Research Institute (ERI).

http://dx.doi.org/10.1016/j.jesit.2016.12.005 2314-7172/© 2016 Electronics Research Institute (ERI). Production and hosting by Elsevier B.V. This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/).

Please cite this article in press as: Potnuru, D., et al., Design and implementation methodology for rapid control prototyping of closed loop speed control for BLDC motor. J. Electr. Syst. Inform. Technol. (2016), http://dx.doi.org/10.1016/j.jesit.2016.12.005

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Fig. 1. BLDC motor drive scheme.

Fig. 2. Back-EMF and stator phase currents of BLDC motor for one cycle (Electrical).

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has given tough competition to the existing motors due to its superior characteristics like higher toque by current ratio, power density, speed range and noise less operation (Xie et al., 2013; Aydogmus and Sünter, 2012; Gargouri, 2012; Karthikeyan and Sekaran, 2011; Shehata, 2013). The three phase BLDC motors are increasingly being used in many industrial applications and more importantly in automotives over the past several years to reduce the carbon dioxide emissions, fuel consumption and control complexity. The BLDC motor is a combination of a permanent magnet synchronous motor, a solid state inverter, electronic control circuitry and rotor position sensors (Singh and Bist, 2013; Kim and Youn, 2002). The inverter together with its control unit and rotor position sensor of BLDC motor imitates the mechanical commutation of DC motor and which is named as electronic commutation (Pillay and Krishnan, 1989; Pillay and Krishnan, 1988). There are basically two categories of BLDC motor viz. permanent magnet synchronous motor (PMSM) and BLDC motors depending on their back-emf wave shape. The one which has six-step trapezoidal wave shape is called as BLDC motors in which stator consists of three phase concentrated winding and rotor with permanent magnets and the PMSM has sinusoidal back-emf where in stator consists of three phase distributed winding and rotor with permanent magnets (Pillay and Krishnan, 1989). To improve the performance of the drive, the researchers are mainly concentrating on speed control methods, torque ripple minimization, inverter topologies and design of the front converters (Xie et al., 2013; Aydogmus and Sünter, 2012; Gargouri, 2012; Yildiz, 2012; Liu et al., 2010; Lee and Noh, 2011; Im et al., 2010; Baratam et al., 2014; Please cite this article in press as: Potnuru, D., et al., Design and implementation methodology for rapid control prototyping of closed loop speed control for BLDC motor. J. Electr. Syst. Inform. Technol. (2016), http://dx.doi.org/10.1016/j.jesit.2016.12.005

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Fig. 3. Overall MATLAB/Simulink diagram of BLDC drive. Table 1 Q11 Switching of inverter devices based on rotor position.

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Interval

Phase – A

Phase – B

Phase – C

0 < θ < π/6 π/6 < θ < π/2 π/2 < θ < 5π/6 5π/6 < θ < 7π/6 7π/6 < θ < 9π/6 9π/6 < θ < 11π/6 11π/6 < θ < 2π

s1 = 0;s2 = 0; s1 =1;s2 = 0; s1 = 1;s2 = 0; s1 = 0;s2 = 0; s1 = 0;s2 = 1 s1 = 0;s2 = 1 s1 = 0;s2 = 0

s3 = 0;s4 =1 s3 = 0;s4 =1 s3 = 0;s4 = 0 s3 = 1;s4 =0 s3 = 1; s4 =0 s3 = 0;s4 =0 s3 = 0;s4 =1

s5 = 1;s6 = 0 s5 = 0;s6 = 0 s5 = 0;s6 = 1 s5 = 0;s6 = 1 s5 = 0;s6 = 0 s5 = 1;s6 = 0 s5 = 1;s6 = 0

Pan et al., 2015; Shao et al., 2003; Wang and Liu, 2009; Moseler and Isermann, 2000; Potnuru et al., 2016). Further to reduce the testing time, the rapid control prototyping plays, a greater role in designing the control strategies and interfacing to the existing electronic control unit. The rapid control prototyping is a process where in the mathematical models developed in MATLAB/Simulink can be easily imported on the real-time computer, with the RTI (Real Time Interface) blocks to connect the real-world systems. A significant amount of work has been done on digital control of BLDC motor drive. The concept of an integrated environment for rapid control prototyping for BLDC motor using Fuzzy controller given by Rubaai et al. (2008), design methodology for industrial control systems using FPGA is given by Monmasson and Cirstea (2007) and rapid control prototyping development of BLDC motor using DS1103 in Rubaai et al. (2006). At present dSPACE DS1104, dSPACE DS1103 and opal-RT are the famous hardware and real-time software tools which operate through MATLAB/Simulink interface programming for rapid control prototyping (Vasca and Iannelli, 2013). However they differ in the number of ADC and DAC ports, internal memory and number of input/output ports etc. The cost involved in Opal-RT implementation for rapid control prototyping is slightly higher for similar facilities. One can read (Anon, 2016) for comparison of the specifications of the DS1104 and DS1103 boards. However, the detailed design and development methodology of Rapid Control Prototype implementation for speed control BLDC motor drive is not available to the authors’ knowledge in the existing literature. As the real challenge of hardware implementation lies in selecting appropriate hardware equipment and perfect configuration of the equipment with controller board. The present paper deals with description of various hardware implementation aspects of BLDC drive control and creating an experimental test bed in the laboratory using dSPACE DS1103 controller board. The DS1103 has greater flexibility in converting the MATLAB/Simulink blocks into to the real-time DSP enabled embedded code. The embedded code can be dumped in to the DSP processor provided in the DS1103 board and to control power Please cite this article in press as: Potnuru, D., et al., Design and implementation methodology for rapid control prototyping of closed loop speed control for BLDC motor. J. Electr. Syst. Inform. Technol. (2016), http://dx.doi.org/10.1016/j.jesit.2016.12.005

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Fig. 4. Overall drive for BLDC motor using DS1103 (Potnuru et al., 2016).

Fig. 5. Snapshot of BLDC motor used in the present work.

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electronic devices. The Real-Time Interference (RTI) provided in dSPACE is a link between the software development and dSPACE hardware which is a necessary criteria for faster and accurate speed response. Moreover, on-line data acquisition and monitoring could be done using dSPACE control desk software. If any function modifications are desirable during the test, it can simply be corrected in the MATLAB/Simulink, and flash it to hardware again (Ghaffari, 2012; Quijano et al., 2002; El Beid and Doubabi, 2014; Monti et al., 2003). The dSPACE rapid prototyping system can be a substitute to any controller during the development process and its advantages are: (i) online modification of the model; (ii) the executed model parameters can be read and updated online; (iii) and model quantity is accessible during the execution time. These advantages enable the researches and engineers to test and iterate their control algorithms in less time.

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2. Drive scheme

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The overall three-phase BLDC motor drive scheme is shown in Fig. 1. The shaft speed of motor is measured using an incremental encoder and is compared with a reference speed and the speed error is fed to PID speed controller. Further, torque reference is obtained by restricting the output of PID controller using a limiter. Based on load torque requirement the reference current generator produces the reference currents ia ∗ , ib ∗ and ic ∗ and these values are actually being obtained by scaling the torque reference T ∗ with kt and it is nothing but ia ∗ = ib ∗ = ic ∗ = T ∗ /kt . For uniform torque control, the stator winding need to be excited based rotor position at six discrete positions. Therefore, the current exactly Please cite this article in press as: Potnuru, D., et al., Design and implementation methodology for rapid control prototyping of closed loop speed control for BLDC motor. J. Electr. Syst. Inform. Technol. (2016), http://dx.doi.org/10.1016/j.jesit.2016.12.005

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Fig. 6. Experimental test bed for speed control of BLDC motor.

Fig. 7. Typical dSPACE implementation process (Quijano et al., 2002).

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follows the flat portion of trapezoidal shaped back-EMF waveform to obtain uniform torque. The torque and speed control of this drive is considered as two-phase turn on control by inverter and hence it will work like dc separately excited motor. Now these reference currents and actual stator phase currents are compared in the hysteresis controller, then the hysteresis current controller generates control signals to turn on the inverter switches (Pillay and Krishnan, 1988; Krishnan, 2009).

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3. Modeling of BLDC motor

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In this subsection, modeling of BLDC motor is described and is based on five state variables viz. three stator phase currents (ia ,ib ,ic ), speed (ωm ), and rotor position (θr ). The Eqs. (1)–(5) are the dynamic state equations (Lee and Ehsani, 2003) and developed based on following assumptions, such as iron and stray losses are neglected and induced currents in the rotor due to stator harmonic fields are being neglected (Pillay and Krishnan, 1988; Krishnan, 2009; Han et al., 2008; Pillay and Krishnan, 1991; Lee and Ehsani, 2003).  dia 1  = vas − Rs ia − kp ωm eas (θr ) dt L−M

(1)

Please cite this article in press as: Potnuru, D., et al., Design and implementation methodology for rapid control prototyping of closed loop speed control for BLDC motor. J. Electr. Syst. Inform. Technol. (2016), http://dx.doi.org/10.1016/j.jesit.2016.12.005

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 dib 1  = vbs − Rs ib − kp ωm ebs (θr ) dt L−M  1  dic = vcs − Rs ic − kp ωm ecs (θr ) dt L−M

(2) (3)

1 −B dωm (ωm ) − (Te − Tl ) (4) = dt J J P dθr = [ωm ] (5) dt 2 where eas (θr ) is function of rotor angular position (in radians/second) with magnitude as shown in Fig. 2 and is represented mathematically in (6), however the same can be extended for ebs (θr ) and ecs (θr ). Further vas , vbs and vcs are the phase voltages fed to the stator of BLDC motor and similarly ia , ib and ic are stator phase currents, Te is electromagnetic torque, Tl is load torque and kp is back-EMF constant and its value is 2NlrBmax . Where B is flux density, lr area of cross section of the conductor and N represents number of conductors. ⎧ (6E/π) θr ; 0 < θr < π/6 ⎪ ⎪ ⎪ ⎪ ⎪ ⎪ E; π/6 < θr < 5π/6 ⎪ ⎪ ⎨ eas (θr ) = − (6E/π) θr + 6E; 5π/6 < θr < 7π/6 (6) ⎪ ⎪ ⎪ ⎪ −E; 7π/6 < θr < 11π/6 ⎪ ⎪ ⎪ ⎪ ⎩ (6E/π) θr − 12E; 11π/6 < θr < 2π

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where J is the moment of Inertia, B is viscous friction coefficient, P the number of poles and λp ωm is peak value of the trapezoidal back-EMF and is denoted by in E.

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4. Simulation of BLDC motor drive

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In this section, simulation approach of BLDC motor drive is described and is consisting of following subsystems

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(1) BLDC motor (2) Speed controller (PID) block (3) Inverter and hysteresis current controller block

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4.1. BLDC motor

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The overall block diagram of BLDC motor drive shown in Fig. 1 which consists of speed controller in outer loop and current controller in the inner loop of the drive. The overall MATLAB/Simulink block diagram is shown in Fig. 3 where in the inner current control loop is combined with the Inverter subsystem. The performance of the drive depends on the tuning of PID controller gains for speed controller and more importantly the hysteresis current controller performance in the inner loop. The time required for operation of inner current loop should be very much less than the outer speed control loop in the design speed controller for any given motor drive. It is because of the electrical time constant (L/Rs ) of current loop is always lesser than the mechanical time constant (J/B) of speed control loop. The dynamic equations from (1) to (5) are used for simulation of the BLDC motor.

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4.2. Speed controller

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The PID controller is considered for speed control of BLDC motor drive and the output of the PID controller is scaled by motor torque constant, Kt to obtain the maximum reference current Imax , which is used for reference current generation in hysteresis current controller. The performance of speed controller is mainly depends on PID controller gains and hence the tuning of the gains has been done through Zieglar–Nichols method for desired steady state error of 20% with settling time less than 3 s. Please cite this article in press as: Potnuru, D., et al., Design and implementation methodology for rapid control prototyping of closed loop speed control for BLDC motor. J. Electr. Syst. Inform. Technol. (2016), http://dx.doi.org/10.1016/j.jesit.2016.12.005

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Fig. 8. interfacing of incremental encoder with DS1103.

Fig. 9. Interfacing of Current sensor with DS1103.

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4.3. Inverter and hysteresis current blocks In the present work, Inverter implementation is combined with current controller subsystem. The hysteresis current control technique is considered as the main current control strategy. It is due to fast dynamic performance during the transient conditions. The equations from (7) to (14) are used for implementation of hysteresis current controller together with inverter operation based on switching function concept where switching “ON” representing with “1” and “OFF” is representing with “0”. The switching logic is based onia (k), ia (k − 1), slope of ia and rotor angular position (θ). When ia (k) is positive

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if (ia (k)) < LL)||((UL < ia (k) < LL) &(ia (k) > (ia (k − 1)) then S1 = 1

(7)

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if (ia (k)) > LL)||((LL < ia (k) < UL) &(ia (k) < (ia (k − 1))) then S 2 = 1

(8)

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where LL and UL represent the lower and upper limits of the hysteresis current controller and similarly switching control logic can be extended for the remaining two phases. The Inverter phase voltages are as given in Eqs. (9)–(14) and switching of inverter devices based on rotor position is shown in Table 1

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da = [(θ > pi/6)(θ < 5pi/6)]S1 + [(θ > 7pi/6)(θ < 11pi/6)]S2 ;

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db = (θ > 0) (θ < pi/2)]S1 + (θ > 5pi/6) (θ < 9pi/6)]S1 + (θ > 11pi/6)(θ < 2pi)S2 ;

(10)

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dc = (θ > 0)(θ < pi/6)S1 + (θ > pi/2)(θ < 7 ∗ pi/6)S2 + (θ > 9pi/6) ∗ (θ < 2pi)S1 ;

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va = 0.5Vdc · da

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vb = 0.5Vdc · db

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vc = 0.5Vdc · dc

(14)

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(9)

where s1, s2 belongs to phase-A of stator winding. Similarly (s3,s4) and (s5,s6) are for switching Phase-B and Phase-C respectively. Please cite this article in press as: Potnuru, D., et al., Design and implementation methodology for rapid control prototyping of closed loop speed control for BLDC motor. J. Electr. Syst. Inform. Technol. (2016), http://dx.doi.org/10.1016/j.jesit.2016.12.005

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Fig. 10. Overall dSPACE implementation in closed loop control of the BLDC motor drive.

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5. Hardware implementation Hardware implementation of the presented work has been described in this subsection. The block diagram of experimental test bed is as shown in Fig. 4 and it consists of following subsystems

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1. BLDC motor with mechanical load arrangement and incremental Encoder 2. dSPACE DS1103 controller board 3. Voltage Source Inverter with Hall Effect based sensors for current, voltage measurements

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5.1. BLDC motor with hall sensors/incremental encoder

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A high performance tetra square wave type 3 hp brushless dc motor is considered for experimentation. In consists of an inbuilt incremental encoder, hall position sensors for sensing the speed and position of the rotor. The Fig. 5 shows the snapshot of BLDC motor drive used for experimentation whereas Fig. 6 shows the top view of the experimental test bed established in the laboratory.

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5.2. dSPACE DS1103 controller board

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The rapid control prototyping implementation using dSPACE DS1103 is having greater flexibility of interfacing MATLAB/Simulink functional blocks with real-time I/O block sets. The controller board consists of a high speed slave Please cite this article in press as: Potnuru, D., et al., Design and implementation methodology for rapid control prototyping of closed loop speed control for BLDC motor. J. Electr. Syst. Inform. Technol. (2016), http://dx.doi.org/10.1016/j.jesit.2016.12.005

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Fig. 11. (a) Motor runs at 15 rpm. (b) Motor runs at 15 rpm.

Fig. 12. (a) Speed with step command at 100 rpm. (b) Rotor position at 100 rpm step command. (c) Duty ratio at 100 rpm step command speed.

Fig. 13. (a) Speed at sinusoidal command speed. (b) Position at sinusoidal reference speed. (c) Duty ratio at Sinusoid command.

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DSP processor TMS320F240 and user-friendly configuration for generation Pulse Width Modulation (PWM) pulses, incremental encoder, Analog-Digital Converter (ADC) and Digital-Analog Converter (DAC). The controller boarded is provided with auxiliary connector panel CLP1103 of dSPACE which easily interfaces the controller board and the external devices like sensors, encoder, inverter board etc (Anon, 2011). The control algorithm/program is first developed in MATLAB/Simulink environment combined with the real-time interface (RTI) blocks of dSPACE. Later the same MATLAB/Simulink blocks without BLDC motor model is converted in to DSP supported code for real time implementation by using inbuilt command ctrl + B. Then the converted embedded code is dumped on the DSP processor of control board for real time implementation. Data acquisition, generation plotter layouts and monitor of control parameters can be done using control desk developer provided in the dSPACE. Moreover, during the real time operation, the controller parameters can be monitored and tuned online through the control desk. The development process involved in dSPACE is shown in Fig. 7 (Quijano et al., 2002). Please cite this article in press as: Potnuru, D., et al., Design and implementation methodology for rapid control prototyping of closed loop speed control for BLDC motor. J. Electr. Syst. Inform. Technol. (2016), http://dx.doi.org/10.1016/j.jesit.2016.12.005

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Fig. 14. (a) Actual speed at 1500 rpm. (b) Rotor position (zoomed view). Table 2 Speed error in closed loop control.

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Command speed

Absolute mean error

15 rpm 50 rpm 100 rpm 1000 rpm 1500 rpm 2500 rpm

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5.3. Voltage Source Inverter

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The intelligent power module (IPM) with hybrid IC-PM25RSB120 is used as a Voltage Source Inverter(VSI) which is designed for power switching applications operating at frequencies up to 20 kHz with built-in control circuits provide optimum gate drive and protection for the IGBTs. It has ratings of 1200 V, 25 A with integrated thermal load, short-circuit, under voltage lockout protection systems. The IPM is nowadays replacing the conventional bulky and expensive Inverter by providing interface with optocoupled transistors with a minimum of external components. The Voltage Source Inverter is fed with a three phase diode bridge rectifier for getting the DC input voltage. A capacitor filter is connected across the bridge rectifier to remove AC ripples in the output. The Fig. 8 shows the interfacing of incremental encoder with dSPACE controller and similarly Fig. 9 shows interfacing of current sensors.

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5.4. Interfacing of incremental encoder

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Interfacing of incremental encoder with controller board is as shown in Fig. 6 and which is used for obtaining the speed and position of the BLDC motor drive. The RTI block, DS1103ENC POS C1 used for interfacing the encoder with the controller board and is consisting of two channels. First channel is used for accessing rotor angular position information and whereas second channel is used for accessing the rotor. Now the position data in degrees need to be converted into radians (in electrical) as shown in Fig. 8 in which “delta pos (deg) is first scaled to encoder tics, and then divided by sampling time Ts, where Ts is a fixed step time value used to obtain the speed of the motor.

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5.5. Interfacing of current sensor

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The connector panel of dSPACE CLP DS1103 consists of 16 ADC (Analog to Digital Control) channels and in which any three channels can be used for the measurement of three phase currents. As the voltage level of each input signal is scaled down by 10 by the dSPACE ADC RTI blocks and hence output of the ADC block should be multiplied with 10 for getting the actual signal. The offset voltage generally is given by the Hall Effect current transducer need to be removed. Further, the value of the current should be multiplied with appropriate gain to obtained correct value of current measurement. Please cite this article in press as: Potnuru, D., et al., Design and implementation methodology for rapid control prototyping of closed loop speed control for BLDC motor. J. Electr. Syst. Inform. Technol. (2016), http://dx.doi.org/10.1016/j.jesit.2016.12.005

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Fig. 15. (a) Actual speed with set speed of 2500 rpm. (b) Rotor position (zoomed view).

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However, the gain and offset values should be obtained using extensive measurements using actual ammeter and dSPACE provided measurement block. Interfacing of current sensor with the DS1103 controller for phase-A is shown in Fig. 9. The DS1103ADC C17 block is an Analog to Digital Converter (ADC) RTI block used to sense the phase current of the motor which is placed in MATLAB/Simulink model by drag and drop and then the channel number is selected. Now in this case channel 17 is selected. As the dSPACE scale down the physical signal of [−10 10] range to [–1 1] range, the scaled physical signal is corrected my multiplying with ‘10’. Then the noise of physical signal may be filtered using appropriate filter. In this case a low pass filter with gains A, B, C and D are selected as 200, −200, 1 and 0 respectively. Further, DS1103ADC C17 block is mapped to Hall Effect based current sensor, so the sensor characteristics and actual measurements need to be calibrated. In this case, the constant block is used for removing offset voltage of the current sensor and then final value is obtained by multiplying with appropriate gain. Fig. 10 shows the overall dSPACE digital implementation diagram in closed loop control of the BLDC motor drive.

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6. Experimental results and analysis

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6.1. Scenario-1: step speed command

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In order to check performance of the proposed speed control using dSPACE DS1103 controller, various test runs form very low speeds to high speeds also with different types of reference speeds have been performed on BLDC motor. Fig. 11(a) shows the actual speed of the motor for command speed of 15 rpm and it is observed that motor tracks reference speed with negligible speed error as illustrated in speed error plot as shown subplot of Fig. 11(a). Now Fig. 11(b) shows the corresponding rotor position when motor is running at 15 rpm. The performance of the drive also is tested at 100 rpm for step change in speed and also for sinusoidal reference speeds. The Fig. 12(a) shows the actual speed of the motor at reference speed of 100 rpm step and one can observe that the motor tracks the set speed with negligible speed error. Fig. 12(b) shows the corresponding rotor position at 100 rpm and it is a zoomed view from 4.5 s to 8 s and corresponding duty ratios during this period is depicted Fig. 12(c).

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6.2. Scenario-2: sinusoidal speed command

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The dynamic performance of the drive has been validated at sinusoidal command speed. The Fig. 13(a) shows the actual speed of the motor for sinusoidal command speed which consists of offset of 100 rpm and frequency of 1 rad/s. The speed error is also illustrated for corresponding closed loop speed control and is calculated with respect to the command speed. The detailed view of rotor position as well as duty ratios from 6 s to 12 s is shown in Fig. 13(b) and (c) respectively.

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6.3. Scenario-3: ramp command speed

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The reference speeds of 1500 rpm and also 2500 rpm are considered for high speed operation of the drive with ramp reference in order to check the drive performance from zero speed to very high speed. The performance of the drive for Please cite this article in press as: Potnuru, D., et al., Design and implementation methodology for rapid control prototyping of closed loop speed control for BLDC motor. J. Electr. Syst. Inform. Technol. (2016), http://dx.doi.org/10.1016/j.jesit.2016.12.005

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1500 rpm is shown in Fig. 14(a) and (b). The Fig. 14(a) shows the actual speed of the motor for a given command speed of 2500 rpm and corresponding error plot is shown in Fig. 14(b). It is observed that motor tracts the reference speed with negligible speed error even for high speed operation and steady state error is 1% and negligible peak overshoot. The performance of closed loop speed control form high speed to low speed as shown in Table 2 where in the absolute mean error is slightly increasing from low speed to high speed and maximum error is less than 5% for higher speeds Fig. 15.

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7. Conclusion

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Rapid control prototyping implementation for closed loop speed control of a BLDC motor drive using dSPACE DS1103 controller board has been considered. The developed scheme has been successfully tested from very low speed of 15 rpm to high speed of 2500 rpm. The effectiveness of the presented approach has been studied for various reference speeds. It is observed that in all the cases the performance of the proposed approach has shown good results. The main advantage of the present work is that it reduces the testing time of proposed control algorithm for BLDC motor and one can use similar procedure for any other electrical machine. Therefore, it can be conclude that implementation of rapid control prototyping scheme for speed control of BLDC motor using dSPACE DS1103 reduces the time and effort of experimentation.

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Please cite this article in press as: Potnuru, D., et al., Design and implementation methodology for rapid control prototyping of closed loop speed control for BLDC motor. J. Electr. Syst. Inform. Technol. (2016), http://dx.doi.org/10.1016/j.jesit.2016.12.005